CN110788836A - 协同动作辅助装置 - Google Patents

协同动作辅助装置 Download PDF

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Publication number
CN110788836A
CN110788836A CN201910702015.5A CN201910702015A CN110788836A CN 110788836 A CN110788836 A CN 110788836A CN 201910702015 A CN201910702015 A CN 201910702015A CN 110788836 A CN110788836 A CN 110788836A
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CN
China
Prior art keywords
robot
display
operator
unit
display data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910702015.5A
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English (en)
Chinese (zh)
Inventor
小栗健一郎
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Fanuc Corp
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Fanuc Corp
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Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of CN110788836A publication Critical patent/CN110788836A/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35503—Eye tracking associated with head mounted display to detect eye position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39451—Augmented reality for robot programming
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Computational Linguistics (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Acoustics & Sound (AREA)
  • Manipulator (AREA)
CN201910702015.5A 2018-08-03 2019-07-31 协同动作辅助装置 Pending CN110788836A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018146907A JP6823018B2 (ja) 2018-08-03 2018-08-03 協調動作支援装置
JP2018-146907 2018-08-03

Publications (1)

Publication Number Publication Date
CN110788836A true CN110788836A (zh) 2020-02-14

Family

ID=69168183

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910702015.5A Pending CN110788836A (zh) 2018-08-03 2019-07-31 协同动作辅助装置

Country Status (4)

Country Link
US (1) US11458618B2 (ja)
JP (1) JP6823018B2 (ja)
CN (1) CN110788836A (ja)
DE (1) DE102019005297B4 (ja)

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* Cited by examiner, † Cited by third party
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JP2022086230A (ja) * 2020-11-30 2022-06-09 セイコーエプソン株式会社 プログラム作成支援方法、プログラム作成支援装置、プログラム作成支援プログラム及び記憶媒体
JP2022088805A (ja) * 2020-12-03 2022-06-15 株式会社メディカロイド ロボット手術システムおよび表示方法
DE102021104883B3 (de) 2021-03-01 2022-06-15 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum roboterunterstützten Ausführen von Aufgaben, Roboter zum Unterstützen eines Benutzers beim Ausführen von Aufgaben und Computerprogrammprodukt
US20220309753A1 (en) * 2021-03-25 2022-09-29 B/E Aerospace, Inc. Virtual reality to assign operation sequencing on an assembly line

Citations (10)

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US5687295A (en) * 1994-04-28 1997-11-11 Fanuc Ltd. Jog feed information display apparatus for a robot
US20040189631A1 (en) * 2003-02-11 2004-09-30 Arif Kazi Method and device for visualizing computer-generated informations
JP2006289543A (ja) * 2005-04-08 2006-10-26 Mitsubishi Heavy Ind Ltd ロボット教示装置
CN102869310A (zh) * 2010-05-10 2013-01-09 奥林巴斯株式会社 操作输入装置以及机械手系统
CN104470687A (zh) * 2012-07-20 2015-03-25 株式会社安川电机 机器人模拟器、机器人示教装置以及机器人示教方法
CN105666505A (zh) * 2014-12-08 2016-06-15 发那科株式会社 具备扩展现实对应显示器的机器人系统
US20160257000A1 (en) * 2015-03-04 2016-09-08 The Johns Hopkins University Robot control, training and collaboration in an immersive virtual reality environment
CN107577159A (zh) * 2017-10-31 2018-01-12 塔普翊海（上海）智能科技有限公司 扩增实境仿真系统
DE102016224774B3 (de) * 2016-12-13 2018-01-25 Audi Ag Verfahren zur Programmierung eines Messroboters und Programmiersystem
CN108127669A (zh) * 2018-02-08 2018-06-08 华南理工大学 一种基于动作融合的机器人示教系统及实施方法

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JP2776477B2 (ja) * 1996-02-13 1998-07-16 川崎重工業株式会社 ロボット３次元位置姿勢教示システム
JP4257468B2 (ja) * 1999-03-31 2009-04-22 株式会社安川電機 塗装ロボット
DE102005009437A1 (de) * 2005-03-02 2006-09-07 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Einblenden von AR-Objekten
JP5246672B2 (ja) * 2011-02-17 2013-07-24 独立行政法人科学技術振興機構 ロボットシステム
JP6193554B2 (ja) 2011-11-04 2017-09-06 ファナック アメリカ コーポレイション ３次元表示部を備えたロボット教示装置
JP5716769B2 (ja) 2013-02-21 2015-05-13 株式会社安川電機 ロボットシミュレータ、ロボット教示装置およびロボット教示方法
KR20140112207A (ko) * 2013-03-13 2014-09-23 삼성전자주식회사 증강현실 영상 표시 시스템 및 이를 포함하는 수술 로봇 시스템
JP6266268B2 (ja) * 2013-08-28 2018-01-24 Dmg森精機株式会社 表示装置
JP6379501B2 (ja) 2014-02-05 2018-08-29 株式会社デンソーウェーブ ロボットの教示装置
KR102521493B1 (ko) * 2015-10-27 2023-04-14 삼성전자주식회사 청소 로봇 및 그 제어방법
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* Cited by examiner, † Cited by third party
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US5687295A (en) * 1994-04-28 1997-11-11 Fanuc Ltd. Jog feed information display apparatus for a robot
US20040189631A1 (en) * 2003-02-11 2004-09-30 Arif Kazi Method and device for visualizing computer-generated informations
JP2006289543A (ja) * 2005-04-08 2006-10-26 Mitsubishi Heavy Ind Ltd ロボット教示装置
CN102869310A (zh) * 2010-05-10 2013-01-09 奥林巴斯株式会社 操作输入装置以及机械手系统
CN104470687A (zh) * 2012-07-20 2015-03-25 株式会社安川电机 机器人模拟器、机器人示教装置以及机器人示教方法
CN105666505A (zh) * 2014-12-08 2016-06-15 发那科株式会社 具备扩展现实对应显示器的机器人系统
US20160257000A1 (en) * 2015-03-04 2016-09-08 The Johns Hopkins University Robot control, training and collaboration in an immersive virtual reality environment
DE102016224774B3 (de) * 2016-12-13 2018-01-25 Audi Ag Verfahren zur Programmierung eines Messroboters und Programmiersystem
CN107577159A (zh) * 2017-10-31 2018-01-12 塔普翊海（上海）智能科技有限公司 扩增实境仿真系统
CN108127669A (zh) * 2018-02-08 2018-06-08 华南理工大学 一种基于动作融合的机器人示教系统及实施方法

Also Published As

Publication number Publication date
US11458618B2 (en) 2022-10-04
DE102019005297A1 (de) 2020-02-06
JP6823018B2 (ja) 2021-01-27
US20200039066A1 (en) 2020-02-06
JP2020019127A (ja) 2020-02-06
DE102019005297B4 (de) 2022-10-13

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